{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:HKAWUF5WJSXLXQCWAOPPIHXIYO","short_pith_number":"pith:HKAWUF5W","canonical_record":{"source":{"id":"1607.00442","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-02T00:58:57Z","cross_cats_sorted":[],"title_canon_sha256":"ce2d95093cf85ae6412f1f26a4a9eaa05675b16e7b16acf467fa5407185c8023","abstract_canon_sha256":"3a7c84fdabcf1690195c7de9f6f111660bb254b78458383e0b1b36cec316752f"},"schema_version":"1.0"},"canonical_sha256":"3a816a17b64caebbc056039ef41ee8c3b9950e61668f6684fc2b4faabb55eb84","source":{"kind":"arxiv","id":"1607.00442","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.00442","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"arxiv_version","alias_value":"1607.00442v1","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.00442","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"pith_short_12","alias_value":"HKAWUF5WJSXL","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"HKAWUF5WJSXLXQCW","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"HKAWUF5W","created_at":"2026-05-18T12:30:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:HKAWUF5WJSXLXQCWAOPPIHXIYO","target":"record","payload":{"canonical_record":{"source":{"id":"1607.00442","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-02T00:58:57Z","cross_cats_sorted":[],"title_canon_sha256":"ce2d95093cf85ae6412f1f26a4a9eaa05675b16e7b16acf467fa5407185c8023","abstract_canon_sha256":"3a7c84fdabcf1690195c7de9f6f111660bb254b78458383e0b1b36cec316752f"},"schema_version":"1.0"},"canonical_sha256":"3a816a17b64caebbc056039ef41ee8c3b9950e61668f6684fc2b4faabb55eb84","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:11:37.056476Z","signature_b64":"HNSXbUGVN7h/ls5PKtbxwcHL68f5RZuw/05cVf+r5ldxRF1zfxxgV91Y2Tb2a+XMxfUgoJ4gwfeh0AewRrGXAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3a816a17b64caebbc056039ef41ee8c3b9950e61668f6684fc2b4faabb55eb84","last_reissued_at":"2026-05-18T01:11:37.056095Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:11:37.056095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.00442","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:11:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BGY9KuAxVv6YDWgK/eWwkESezEwVboCBjtd6mnpr7rHxVAJ80ZQSUdFh7dnHjzoTfzv0aCuIqPF9mrJy4digCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T16:38:50.150339Z"},"content_sha256":"808b565a24f2b1113b2a0ef28f3d3c29247722f3c1c6c0bd299c50be1619534b","schema_version":"1.0","event_id":"sha256:808b565a24f2b1113b2a0ef28f3d3c29247722f3c1c6c0bd299c50be1619534b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:HKAWUF5WJSXLXQCWAOPPIHXIYO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Datasets on object manipulation and interaction: a survey","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Yongqiang Huang, Yu Sun","submitted_at":"2016-07-02T00:58:57Z","abstract_excerpt":"A dataset is crucial for model learning and evaluation. Choosing the right dataset to use or making a new dataset requires the knowledge of those that are available. In this work, we provide that knowledge, by reviewing twenty datasets that were published in the recent six years and that are directly related to object manipulation. We report on modalities, activities, and annotations for each individual dataset and give our view on its use for object manipulation. We also compare the datasets and summarize them. We conclude with our suggestion on future datasets."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.00442","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:11:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0KIIaqcq2zBvA8ARq7rgDQu1wD3KZdwn7KGhAk8DLPE4Abv+YhqGX8eutQws8tjVH9MfqVZbAnjXPXo6o321CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T16:38:50.150695Z"},"content_sha256":"ea8c2a24093a8d1f3b690affc6857a9f2e27451cf56082318f3842a7357c09f4","schema_version":"1.0","event_id":"sha256:ea8c2a24093a8d1f3b690affc6857a9f2e27451cf56082318f3842a7357c09f4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/bundle.json","state_url":"https://pith.science/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-30T16:38:50Z","links":{"resolver":"https://pith.science/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO","bundle":"https://pith.science/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/bundle.json","state":"https://pith.science/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HKAWUF5WJSXLXQCWAOPPIHXIYO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:HKAWUF5WJSXLXQCWAOPPIHXIYO","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"3a7c84fdabcf1690195c7de9f6f111660bb254b78458383e0b1b36cec316752f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-02T00:58:57Z","title_canon_sha256":"ce2d95093cf85ae6412f1f26a4a9eaa05675b16e7b16acf467fa5407185c8023"},"schema_version":"1.0","source":{"id":"1607.00442","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.00442","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"arxiv_version","alias_value":"1607.00442v1","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.00442","created_at":"2026-05-18T01:11:37Z"},{"alias_kind":"pith_short_12","alias_value":"HKAWUF5WJSXL","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"HKAWUF5WJSXLXQCW","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"HKAWUF5W","created_at":"2026-05-18T12:30:19Z"}],"graph_snapshots":[{"event_id":"sha256:ea8c2a24093a8d1f3b690affc6857a9f2e27451cf56082318f3842a7357c09f4","target":"graph","created_at":"2026-05-18T01:11:37Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"A dataset is crucial for model learning and evaluation. Choosing the right dataset to use or making a new dataset requires the knowledge of those that are available. In this work, we provide that knowledge, by reviewing twenty datasets that were published in the recent six years and that are directly related to object manipulation. We report on modalities, activities, and annotations for each individual dataset and give our view on its use for object manipulation. We also compare the datasets and summarize them. We conclude with our suggestion on future datasets.","authors_text":"Yongqiang Huang, Yu Sun","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-02T00:58:57Z","title":"Datasets on object manipulation and interaction: a survey"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.00442","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:808b565a24f2b1113b2a0ef28f3d3c29247722f3c1c6c0bd299c50be1619534b","target":"record","created_at":"2026-05-18T01:11:37Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"3a7c84fdabcf1690195c7de9f6f111660bb254b78458383e0b1b36cec316752f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-02T00:58:57Z","title_canon_sha256":"ce2d95093cf85ae6412f1f26a4a9eaa05675b16e7b16acf467fa5407185c8023"},"schema_version":"1.0","source":{"id":"1607.00442","kind":"arxiv","version":1}},"canonical_sha256":"3a816a17b64caebbc056039ef41ee8c3b9950e61668f6684fc2b4faabb55eb84","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3a816a17b64caebbc056039ef41ee8c3b9950e61668f6684fc2b4faabb55eb84","first_computed_at":"2026-05-18T01:11:37.056095Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:11:37.056095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HNSXbUGVN7h/ls5PKtbxwcHL68f5RZuw/05cVf+r5ldxRF1zfxxgV91Y2Tb2a+XMxfUgoJ4gwfeh0AewRrGXAw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:11:37.056476Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.00442","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:808b565a24f2b1113b2a0ef28f3d3c29247722f3c1c6c0bd299c50be1619534b","sha256:ea8c2a24093a8d1f3b690affc6857a9f2e27451cf56082318f3842a7357c09f4"],"state_sha256":"94d8293e7cc9d895038334608158dfeeb7643c6814a6dc1a13b70a7f5fb23e9a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xjpmq468sjiQAbFD7jwhTgP2PIu8HraIJwq/IYnia7JYxVJ7N3JmAvlgE5KoTFzg6RP5zWWNiakJh4Q87PG5CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T16:38:50.152640Z","bundle_sha256":"481caffdfee31c745d5c61c479f760d31e2f882ec5701ee690a1d58e532093fe"}}